相关论文: A Closer Look at Local Aggregation Operators in Po…

Point clouds have become increasingly vital across various applications thanks to their ability to realistically depict 3D objects and scenes. Nevertheless, effectively compressing unstructured, high-precision point cloud data remains a…

In this work, we focus on designing a point local aggregation function that yields parameter efficient networks for 3D point cloud semantic segmentation. We explore the idea of using learnable neighbor-to-grid soft assignment in grid-based…

Modern deep neural networks comprise many operational layers, such as dense or convolutional layers, which are often collected into blocks. In this work, we introduce a new, wavelet-transform-based network architecture that we call the…

To reduce cost in storing, processing and visualizing a large-scale point cloud, we consider a randomized resampling strategy to select a representative subset of points while preserving application-dependent features. The proposed strategy…

The paper presents a learning-based method for computing a discriminative 3D point cloud descriptor for place recognition purposes. Existing methods, such as PointNetVLAD, are based on unordered point cloud representation. They use PointNet…

Recent state-of-the-art performance on human-body pose estimation has been achieved with Deep Convolutional Networks (ConvNets). Traditional ConvNet architectures include pooling and sub-sampling layers which reduce computational…

The ability to cope with out-of-distribution (OOD) corruptions and adversarial attacks is crucial in real-world safety-demanding applications. In this study, we develop a general mechanism to increase neural network robustness based on…

Efficient processing and feature extraction of largescale point clouds are important in related computer vision and cyber-physical systems. This work investigates point cloud resampling based on hypergraph signal processing (HGSP) to better…

In the framework of convolutional neural networks, downsampling is often performed with an average-pooling, where all the activations are treated equally, or with a max-pooling operation that only retains an element with maximum activation…

Point cloud super-resolution is a fundamental problem for 3D reconstruction and 3D data understanding. It takes a low-resolution (LR) point cloud as input and generates a high-resolution (HR) point cloud with rich details. In this paper, we…

We introduce Point-LN, a novel lightweight framework engineered for efficient 3D point cloud classification. Point-LN integrates essential non-parametric components-such as Farthest Point Sampling (FPS), k-Nearest Neighbors (k-NN), and…

In point cloud analysis tasks, the existing local feature aggregation descriptors (LFAD) are unable to fully utilize information in the neighborhood of central points. Previous methods rely solely on Euclidean distance to constrain the…

Last-mile logistics is regarded as an essential yet highly expensive component of parcel logistics. In dense urban environments, this is partially caused by inherent inefficiencies due to traffic congestion and the disparity and…

Despite the recent active research on processing point clouds with deep networks, few attention has been on the sensitivity of the networks to rotations. In this paper, we propose a deep learning architecture that achieves discrete…

Three-dimensional point cloud anomaly detection that aims to detect anomaly data points from a training set serves as the foundation for a variety of applications, including industrial inspection and autonomous driving. However, existing…

Spatial and channel re-calibration have become powerful concepts in computer vision. Their ability to capture long-range dependencies is especially useful for those networks that extract local features, such as CNNs. While re-calibration…

Producing traversability maps and understanding the surroundings are crucial prerequisites for autonomous navigation. In this paper, we address the problem of traversability assessment using point clouds. We propose a novel pillar feature…

Recovering dense and uniformly distributed point clouds from sparse or noisy data remains a significant challenge. Recently, great progress has been made on these tasks, but usually at the cost of increasingly intricate modules or…

The ever-growing scale of deep neural networks (DNNs) has lead to an equally rapid growth in computational resource requirements. Many recent architectures, most prominently Large Language Models, have to be trained using supercomputers…

The size and shape of the receptive field determine how the network aggregates local information and affect the overall performance of a model considerably. Many components in a neural network, such as kernel sizes and strides for…